A high-intensity focused ultrasound ablation robot for liver tumors

Abstract

This invention relates to the field of ultrasound ablation robots for liver tumors, specifically a high-intensity focused ultrasound ablation robot for liver tumors. The robot includes a main body, a first robotic arm, and a second robotic arm. An ablation needle is mounted on one side of the second robotic arm. Two sets of support plates are located below the first robotic arm. Each set of support plates has a rotatable adjustment plate on an adjacent side. An airbag is located inside the support plate on the side away from the adjustment plate. An airbag compression mechanism is connected to the support plate. Two sets of pressing components are located between the adjustment plate and the airbag, and these pressing components are connected to the support plate via a separation mechanism. This high-intensity focused ultrasound ablation robot for liver tumors, by incorporating pressing components, eliminates the need for manual stretching of the patient's skin during surgery on patients with loose skin, reducing the workload of medical staff.

Description

Technical Field

[0001] This invention relates to the field of ultrasound ablation robot technology for liver tumors, specifically a high-intensity focused ultrasound ablation robot for liver tumors. Background Technology

[0002] The high-intensity focused ultrasound ablation robot for liver tumors is an innovative medical device that combines advanced physical ablation principles with precision robotic technology, aiming to achieve non-invasive or minimally invasive treatment of liver cancer. Its core principle is to precisely guide external ultrasound energy onto the tumor within the body via a robotic platform, ablating the tumor using thermal or mechanical effects while maximizing the protection of normal tissue.

[0003] During the surgery, the patient's liver moves up and down with breathing, with a movement range of 2-3 centimeters, which has a certain impact on the elimination of liver tumors. For some patients with loose skin, medical staff need to stretch the patient's skin. Manually stretching the patient's skin has poor stability and is not suitable for long-term surgery. In addition, the process of manually stretching the skin is prone to causing the patient's skin to shift, which increases the difficulty of eliminating dry tumors. Summary of the Invention

[0004] The purpose of this invention is to provide a high-intensity focused ultrasound ablation robot for liver tumors to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-intensity focused ultrasound ablation robot for liver tumors, comprising a robot body, a first robotic arm, and a second robotic arm. The robot body and the second robotic arm are rotatably connected via the first robotic arm. An ablation needle is provided on one side of the second robotic arm, and a movable structure is provided outside the ablation needle. Two sets of support plates are provided below the first robotic arm, and an adjustment mechanism is provided between the two sets of support plates. A pressure sensor is detachably installed below the support plates. A rotatable adjustment plate is provided on each adjacent side of the two sets of support plates. A groove is formed inside the adjustment plate, and a sterile cotton strip is detachably installed inside the groove. An airbag is provided inside the side of the support plate away from the adjustment plate. The airbag compression mechanism is connected to the support plate. Two sets of pressing components are provided between the adjustment plate and the airbag, and the pressing components are connected to the support plate via a separation mechanism.

[0006] Preferably, the moving structure includes a guide, which is connected to a second robotic arm. The guide has a drive assembly inside, and a mounting base is installed between the drive assembly and the ablation needle.

[0007] Preferably, the adjustment mechanism includes two sets of rods, which are located on both sides of the support plate. The rods are horizontally arranged and fixedly connected to a first robotic arm. Mounting blocks are fixedly installed on both sides of the support plate. The mounting blocks are slidably connected to the rods. A first spring is movably sleeved on the outer surface of the rods, and the first spring is fixedly connected to the mounting blocks.

[0008] Preferably, the adjustment mechanism includes two sets of electric push rods, which are detachably mounted on the outer surface of the first robotic arm. The electric push rods are arranged vertically, with the two sets of electric push rods located above two sets of rods respectively. A pressure plate is fixedly mounted on the output end of each electric push rod, and two sets of push plates are rotatably mounted below the pressure plate. The end of each push plate away from the pressure plate is rotatably connected to the mounting block.

[0009] Preferably, the separation mechanism includes a slider and a groove, the slider and the groove are slidably connected, the slider and the pressing member are fixedly connected, and the slider is connected to a power structure and a rod.

[0010] Preferably, the power structure includes a push rod, two sets of magnets are slidably mounted on the outer surface of the rod, the two sets of magnets attract each other, one end of the push rod is rotatably connected to the magnet, the other end of the push rod is rotatably connected to the slider, and a second spring is provided between the magnet and the mounting block, the second spring being movably sleeved on the outer surface of the rod.

[0011] Preferably, the support plate has a groove on the side near the adjusting plate, the adjusting plate is located inside the groove, and rotating parts are fixedly installed at both ends of the adjusting plate. The rotating parts are rotatably connected to the support plate, and a driving structure is provided on the outside of the rotating parts.

[0012] Preferably, the drive structure includes a frame, the frame having an internal movable groove, the rotating component having a Z-shaped design and passing through the movable groove, a movable component being fixedly installed on the outer surface of the frame, and a guide groove being provided inside the support plate, with the movable component and the guide groove being slidably connected.

[0013] Preferably, the outer surface of the adjusting plate away from the disinfecting cotton strip has protrusions uniformly fixedly installed, and the protrusions are made of rubber or silicone.

[0014] Preferably, the extrusion mechanism includes a mounting groove, which is formed inside the support plate. The airbag is located inside the mounting groove. A plate is fixedly installed above the airbag. The lower end face of the plate is arc-shaped. Fixing frames are fixedly installed on both sides of the upper part of the plate. A hydraulic cylinder is installed between the fixing frames and the support plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up pressing components, the support plate moves and drives two sets of pressing components to move synchronously. With the cooperation of magnets, push rods, slides and sliders, the two sets of pressing components can move away from each other, thereby opening up the patient's skin. This eliminates the need to manually open the patient's skin when performing surgery on patients with loose skin, reducing the workload of medical staff and increasing the stability of the surgical process.

[0016] 2. By rotating the adjustment plate, the patient's skin can be disinfected in conjunction with the disinfectant swab. After disinfection, rotating the adjustment plate can further restrict the patient's skin. The protrusions increase the friction between the adjustment plate and the patient's skin, which helps to improve the stability of the support for the patient's skin.

[0017] 3. By setting up plates and airbags, compression can be applied to the patient's chest cavity, abdomen, and other areas, which can effectively reduce the amplitude of the dryness moving up and down with breathing, thereby reducing the impact of respiratory movements on the liver and improving the success rate of the surgery. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the connection structure between the second robotic arm and the ablation needle of the present invention; Figure 4 This is a partial structural diagram of the present invention; Figure 5 This is a schematic diagram of the connection structure between the two sets of support plates of the present invention; Figure 6 This is a schematic diagram of the connection structure between the pressing component and the support plate of the present invention; Figure 7 This is a schematic diagram of the internal structure of a single support plate of the present invention; Figure 8 For the present invention Figure 7 A structural sectional view.

[0019] The components represented by each number in the attached diagram are listed below: 1. Robot body; 2. First robotic arm; 3. Second robotic arm; 4. Guide; 5. Drive assembly; 6. Mounting base; 7. Ablation needle; 8. Rod; 9. Support plate; 10. Mounting block; 11. First spring; 12. Push plate; 13. Pressure plate; 14. Electric push rod; 15. Pressure sensor; 16. Groove; 17. Adjustment plate; 18. Protrusion; 19. Slot; 20. Disinfecting cotton strip; 21. Rotating component; 22. Frame; 23. Movable slot; 24. Moving component; 25. Guide slot; 26. Pressing component; 27. Slider; 28. Slide; 29. ​​Magnet; 30. Push rod; 31. Second spring; 32. Mounting slot; 33. Plate; 34. Airbag; 35. Fixing frame; 36. Hydraulic cylinder. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-8 The illustration shows a high-intensity focused ultrasound ablation robot for liver tumors, comprising a robot body 1, a first robotic arm 2, and a second robotic arm 3. The robot body 1 and the second robotic arm 3 are rotatably connected via the first robotic arm 2. An ablation needle 7 is provided on one side of the second robotic arm 3, and a movable structure is provided on the outside of the ablation needle 7. Two sets of support plates 9 are provided below the first robotic arm 2, and an adjustment mechanism is provided between the two sets of support plates 9. A pressure sensor 15 is detachably installed below the support plate 9. A rotatable adjustment plate 17 is provided on each adjacent side of the two sets of support plates 9. A groove 19 is opened inside the adjustment plate 17, and a sterile cotton strip 20 is detachably installed inside the groove 19. An airbag 34 is provided inside the support plate 9 on the side away from the adjustment plate 17. The airbag 34 compression mechanism is connected to the support plate 9. Two sets of pressing parts 26 are provided between the adjustment plate 17 and the airbag 34, and the pressing parts 26 are connected to the support plate 9 via a separation mechanism.

[0022] Specifically, the robot body 1 moves the first robotic arm 2 and the second robotic arm 3. The first robotic arm 2 moves two sets of support plates 9 above the human body and into contact with the human skin. The pressure sensor 15 can sense the pressure between the support plates 9 and the human body. When the pressure reaches a certain level, the support plates 9 stop moving downwards. Then, the adjustment mechanism moves the two sets of support plates 9 away from each other, reserving a treatment area for the ablation needle 7 and limiting the area that does not need to be treated. During this process, the support plates 9 move the adjustment plate 17 synchronously. The disinfectant cotton swab 20 comes into contact with the human skin and rolls on the human body surface to disinfect the human body. At this time, the disinfectant cotton swab 20 rotates inside the tank 19, and at the same time, the pressing component 26 presses the human skin. The support plates 9 move... When the pressing parts 26 move synchronously, under the action of the separation structure, the two sets of pressing parts 26 can move away from each other, thereby stretching the skin on the surface of the human body. When the support plate 9 moves to a certain position, it stops moving. At this time, the adjusting plate 17 rotates, so that the opening of the groove 19 faces upward. The adjusting plate 17 contacts the skin on the surface of the human body, further limiting the stretched skin so that the stretched skin will not wrinkle again. The squeezing mechanism drives the airbag 34 to move downward, squeezing the human body, so that when performing ultrasound ablation on liver tumors, the patient's breathing will not cause violent body movements, reducing the range of motion of the patient's chest cavity and abdomen during breathing, thereby improving the efficiency and accuracy of ablation. The second robotic arm 3 can drive the ablation needle 7 to ablate the liver tumor through the moving structure.

[0023] The moving structure includes a guide 4, which is connected to a second robotic arm 3. A drive assembly 5 is installed inside the guide 4, and a mounting base 6 is installed between the drive assembly 5 and the ablation needle 7.

[0024] Furthermore, the second robotic arm 3 moves the ablation needle 7 to a suitable position and adjusts the angle of the ablation needle 7. Under the action of the guide 4, the drive component 5 can drive the ablation needle 7 to move back and forth along the length of the guide 4 through the mounting base 6, which facilitates the ablation of the patient's liver tumor.

[0025] The adjustment mechanism includes two sets of rods 8, which are located on both sides of the support plate 9. The rods 8 are horizontally arranged and fixedly connected to the first robotic arm 2. Mounting blocks 10 are fixedly installed on both sides of the support plate 9. The mounting blocks 10 are slidably connected to the rods 8. A first spring 11 is movably sleeved on the outer surface of the rods 8. The first spring 11 is fixedly connected to the mounting blocks 10.

[0026] The adjustment mechanism includes two sets of electric push rods 14. The electric push rods 14 are detachably mounted on the outer surface of the first robotic arm 2. The electric push rods 14 are arranged vertically. The two sets of electric push rods 14 are respectively located above the two sets of rods 8. The output end of the electric push rod 14 is fixedly mounted with a pressure plate 13. Two sets of push plates 12 are rotatably mounted below the pressure plate 13. The end of the push plate 12 away from the pressure plate 13 is rotatably connected to the mounting block 10.

[0027] Furthermore, under the action of the first robotic arm 2 and the rod 8, the electric push rod 14 drives the pressure plate 13 to move downward. At this time, the pressure plate 13 drives the push plate 12 to rotate, and the angle between the two sets of push plates 12 gradually increases. The two sets of push plates 12 drive the two sets of mounting blocks 10 to move away from each other on the outer surface of the rod 8. When the mounting blocks 10 move, they drive the support plate 9 to move synchronously. At this time, the first spring 11 is deformed by force.

[0028] The separation mechanism includes a slider 27 and a groove 28, which are slidably connected. The slider 27 is fixedly connected to the pressing member 26, and the slider 27 is connected to the rod 8 through a power structure.

[0029] The power structure includes a push rod 30. Two sets of magnets 29 are slidably mounted on the outer surface of the rod 8. The two sets of magnets 29 attract each other. One end of the push rod 30 is rotatably connected to the magnet 29, and the other end of the push rod 30 is rotatably connected to the slider 27. A second spring 31 is provided between the magnet 29 and the mounting block 10. The second spring 31 is movably sleeved on the outer surface of the rod 8.

[0030] Furthermore, when the support plate 9 moves, it drives the pressing component 26 to move synchronously. In the initial state, the two sets of magnets 29 attract each other, and the second spring 31 is in a compressed state. When the two sets of support plates 9 move away from each other, under the action of the magnets 29 and the second spring 31, the pressing component 26 drives the push rod 30 to rotate through the slider 27. At this time, the slider 27 can slide inside the groove 28, thereby driving the two sets of pressing components 26 to move away from each other along the length of the groove 28, which is convenient for stretching the patient's skin. When the slider 27 moves to the limit position in the groove 28, the support plate 9 drives the pressing component 26 to continue moving. At this time, the slider 27 can drive the magnet 29 to move through the push rod 30, and the second spring 31 can ensure that the slider 27 will not move randomly inside the groove 28 during this process.

[0031] The support plate 9 has a groove 16 on the side near the adjustment plate 17. The adjustment plate 17 is located inside the groove 16. Rotating parts 21 are fixedly installed at both ends of the adjustment plate 17. The rotating parts 21 are rotatably connected to the support plate 9. A driving structure is provided on the outside of the rotating parts 21.

[0032] The drive structure includes a frame 22, with a movable groove 23 inside the frame 22. The rotating part 21 is designed in a Z-shape and passes through the movable groove 23. A movable part 24 is fixedly installed on the outer surface of the frame 22. A guide groove 25 is opened inside the support plate 9. The movable part 24 and the guide groove 25 are slidably connected.

[0033] The outer surface of the adjusting plate 17 away from the disinfecting cotton strip 20 has protrusions 18 evenly fixedly installed. The protrusions 18 are made of rubber or silicone.

[0034] Specifically, in the initial state, the opening of the trough 19 faces downwards, and the disinfectant swab 20 is in contact with the patient's skin. When the support plate 9 moves, it can drive the disinfectant swab 20 to roll, thereby disinfecting the patient's skin. When the two sets of support plates 9 move away from each other and stop moving, the moving part 24 moves downwards inside the guide groove 25. The moving part 24 drives the frame 22 to move synchronously. Since the rotating part 21 is shaped like a "Z" and passes through the movable groove 23, the frame 22 can drive the adjusting plate 17 to rotate through the rotating part 21. At this time, the opening of the trough 19 faces downwards, and the adjusting plate 17 presses on the patient's skin, further limiting the spread skin. The protrusions 18 on the surface of the adjusting plate 17 can increase the friction between the adjusting plate 17 and the skin, improving the stability of the adjusting plate 17 in limiting the skin.

[0035] The extrusion mechanism includes a mounting groove 32, which is opened inside the support plate 9. An airbag 34 is located inside the mounting groove 32. A plate 33 is fixedly installed above the airbag 34. The lower end face of the plate 33 is arc-shaped. Fixing brackets 35 are fixedly installed on both sides of the upper part of the plate 33. A hydraulic cylinder 36 is installed between the fixing brackets 35 and the support plate 9.

[0036] Furthermore, the hydraulic cylinder 36 drives the plate 33 to move downward inside the mounting groove 32 via the fixing frame 35. The plate 33 drives the airbag 34 to move synchronously. The airbag 34 comes into contact with the patient's skin. As the plate 33 continues to move downward, the airbag 34 can press on the patient's chest and abdomen, reducing the range of movement caused by breathing. The lower end of the plate 33 is arc-shaped, which can fit the patient's body more closely. Moreover, the airbag 34 can make the compression on the patient's body more even, avoiding damage to the patient's body.

[0037] Working principle: The robot body 1 drives the first robotic arm 2 and the second robotic arm 3 to move. The first robotic arm 2, through the rod 8, moves two sets of support plates 9 to above the human body and into contact with the human skin. The pressure sensor 15 can detect the pressure between the support plates 9 and the human body. When the pressure reaches a certain level, the support plates 9 stop moving downwards. The electric push rod 14 drives the pressure plate 13 to move downwards. At this time, the pressure plate 13 drives the push plate 12 to rotate, and the angle between the two sets of push plates 12 gradually increases. The two sets of push plates 12 drive the two sets of mounting blocks 10 to move away from each other on the outer surface of the rod 8. When the mounting blocks 10 move, they drive the support plates 9 to move synchronously. At this time, the first spring 11 is deformed by the force. Subsequently, the adjustment mechanism moves the two sets of support plates 9 away from each other, reserving a treatment area for the ablation needle 7 and limiting the area that does not need to be treated. In the initial state, the opening of the tank 19 faces downward, and the sterile cotton swab 20 is in contact with the patient's skin. When the support plate 9 moves, it can drive the sterile cotton swab 20 to roll, thereby disinfecting the patient's skin. At this time, the sterile cotton swab 20 rotates inside the tank 19, while the pressing element 26 presses on the human skin.

[0038] When the support plate 9 moves, it drives the pressing component 26 to move synchronously. In the initial state, the two sets of magnets 29 attract each other, and the second spring 31 is in a compressed state. When the two sets of support plates 9 move away from each other, under the action of magnets 29 and the second spring 31, the pressing component 26 drives the push rod 30 to rotate through the slider 27. At this time, the slider 27 can slide inside the groove 28, thereby driving the two sets of pressing components 26 to move away from each other along the length of the groove 28, which is convenient for stretching the patient's skin. When the slider 27 moves to the limit position in the groove 28, the support plate 9 drives the pressing component 26 to continue moving. At this time, the slider 27 can drive the magnet 29 to move through the push rod 30. The second spring 31 can ensure that the slider 27 will not move randomly inside the groove 28 during this process.

[0039] When the two sets of support plates 9 move away from each other and stop moving, the moving part 24 moves downward inside the guide groove 25. The moving part 24 drives the frame 22 to move synchronously. Since the rotating part 21 is in the shape of a "Z" and the rotating part 21 passes through the movable groove 23, the frame 22 can drive the adjusting plate 17 to rotate through the rotating part 21. At this time, the groove 19 opens downward, and the adjusting plate 17 presses on the patient's skin to further limit the spread skin. The protrusions 18 on the surface of the adjusting plate 17 can increase the friction between the adjusting plate 17 and the skin and improve the stability of the adjusting plate 17 in limiting the skin.

[0040] The hydraulic cylinder 36 drives the plate 33 to move downward inside the mounting groove 32 via the fixing frame 35. The plate 33 drives the airbag 34 to move synchronously. The airbag 34 comes into contact with the patient's skin. As the plate 33 continues to move downward, the airbag 34 can press on the patient's chest and abdomen, reducing the range of movement caused by breathing. The lower end of the plate 33 is arc-shaped, which can fit the patient's body better. Moreover, the airbag 34 can make the compression on the patient's body more even, avoiding damage to the patient's body.

[0041] The second robotic arm 3 moves the ablation needle 7 to a suitable position and adjusts the angle of the ablation needle 7. Under the action of the guide 4, the drive component 5 can drive the ablation needle 7 to move back and forth along the length of the guide 4 through the mounting base 6, which facilitates the ablation of the patient's liver tumor.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A liver tumor high-intensity focused ultrasound ablation robot, comprising a robot body (1), a first mechanical arm (2) and a second mechanical arm (3), characterized in that: The robot body (1) and the second robotic arm (3) are rotatably connected via the first robotic arm (2). An ablation needle (7) is provided on one side of the second robotic arm (3). A movable structure is provided on the outside of the ablation needle (7). Two sets of support plates (9) are provided below the first robotic arm (2). An adjustment mechanism is provided between the two sets of support plates (9). A pressure sensor (15) is detachably installed below the support plate (9). A rotatable structure is provided on the adjacent side of both sets of support plates (9). The adjustable plate (17) is movable. The interior of the adjustable plate (17) is provided with a groove (19). The groove (19) is detachably installed with a disinfectant cotton strip (20). An airbag (34) is provided on the side of the support plate (9) away from the adjustable plate (17). The airbag (34) is connected to the support plate (9) by a squeezing mechanism. Two sets of pressing parts (26) are provided between the adjustable plate (17) and the airbag (34). The pressing parts (26) are connected to the support plate (9) through a separation mechanism.

2. The liver tumor high-intensity focused ultrasound ablation robot of claim 1, wherein: The moving structure includes a guide (4) which is connected to a second robotic arm (3). A drive assembly (5) is provided inside the guide (4), and a mounting base (6) is installed between the drive assembly (5) and the ablation needle (7).

3. The liver tumor high-intensity focused ultrasound ablation robot of claim 1, wherein: The adjustment mechanism includes two sets of rods (8), which are located on both sides of the support plate (9). The rods (8) are horizontally arranged and fixedly connected to the first robotic arm (2). Mounting blocks (10) are fixedly installed on both sides of the support plate (9). The mounting blocks (10) are slidably connected to the rods (8). A first spring (11) is movably sleeved on the outer surface of the rods (8). The first spring (11) is fixedly connected to the mounting blocks (10).

4. The liver tumor high-intensity focused ultrasound ablation robot of claim 3, wherein: The adjustment mechanism includes two sets of electric push rods (14). The electric push rods (14) are detachably installed on the outer surface of the first robotic arm (2). The electric push rods (14) are arranged vertically. The two sets of electric push rods (14) are respectively located above the two sets of rods (8). The output end of the electric push rod (14) is fixedly installed with a pressure plate (13). Two sets of push plates (12) are rotatably installed below the pressure plate (13). The end of the push plate (12) away from the pressure plate (13) is rotatably connected to the mounting block (10).

5. The high-intensity focused ultrasound ablation robot for liver tumors according to claim 3, characterized in that: The separation mechanism includes a slider (27) and a groove (28), which are slidably connected. The slider (27) is fixedly connected to a pressing member (26), and the slider (27) is connected to a power structure and a rod (8).

6. The high-intensity focused ultrasound ablation robot for liver tumors according to claim 5, characterized in that: The power structure includes a push rod (30), and two sets of magnets (29) are slidably mounted on the outer surface of the rod (8). The two sets of magnets (29) attract each other. One end of the push rod (30) is rotatably connected to the magnet (29), and the other end of the push rod (30) is rotatably connected to the slider (27). A second spring (31) is provided between the magnet (29) and the mounting block (10). The second spring (31) is movably sleeved on the outer surface of the rod (8).

7. The high-intensity focused ultrasound ablation robot for liver tumors according to claim 1, characterized in that: The support plate (9) has a groove (16) on one side near the adjustment plate (17). The adjustment plate (17) is located inside the groove (16). Rotating parts (21) are fixedly installed at both ends of the adjustment plate (17). The rotating parts (21) are rotatably connected to the support plate (9). A driving structure is provided on the outside of the rotating parts (21).

8. The high-intensity focused ultrasound ablation robot for liver tumors according to claim 7, characterized in that: The drive structure includes a frame (22), the frame (22) has an internal movable groove (23), the rotating part (21) is designed in a Z-shape and passes through the movable groove (23), the outer surface of the frame (22) is fixedly installed with a moving part (24), the support plate (9) has an internal guide groove (25), and the moving part (24) and the guide groove (25) are slidably connected.

9. The high-intensity focused ultrasound ablation robot for liver tumors according to claim 1, characterized in that: The adjustment plate (17) has a protrusion (18) uniformly fixed on the outer surface of the end away from the disinfection cotton strip (20), and the protrusion (18) is made of rubber or silicone.

10. The high-intensity focused ultrasound ablation robot for liver tumors according to claim 1, characterized in that: The extrusion mechanism includes an installation groove (32) which is located inside the support plate (9). The airbag (34) is located inside the installation groove (32). A plate (33) is fixedly installed above the airbag (34). The lower end face of the plate (33) is arc-shaped. Fixing brackets (35) are fixedly installed on both sides of the upper part of the plate (33). A hydraulic cylinder (36) is installed between the fixing bracket (35) and the support plate (9).

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